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A Quantitative Control Method of Quadrotor Guaranteed Performance Considering Airborne Resource Constraints

A control method and resource-limited technology, applied in the field of quadrotor automatic control, can solve problems such as complex unknown interference, reduce excessive occupation, improve the utilization rate of airborne computing resources, and ease the information sampling frequency and transmission rate.

Active Publication Date: 2022-07-19
ZHONGBEI UNIV
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Problems solved by technology

[0004] In order to solve the problem of quadrotor high-performance trajectory tracking control under complex unknown interference and limited airborne resources, the present invention provides a quadrotor performance-guaranteed quantitative control method considering the limited airborne resources

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  • A Quantitative Control Method of Quadrotor Guaranteed Performance Considering Airborne Resource Constraints
  • A Quantitative Control Method of Quadrotor Guaranteed Performance Considering Airborne Resource Constraints
  • A Quantitative Control Method of Quadrotor Guaranteed Performance Considering Airborne Resource Constraints

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Embodiment Construction

[0050] The present invention will be further described below in conjunction with specific embodiments.

[0051] A method for quantifying the guaranteed performance of a quadrotor considering limited airborne resources, comprising the following steps:

[0052] (1) Establish a motion / dynamic model that considers the control input quantification and can characterize the strong coupling and uncertainty of the quadrotor:

[0053] First, a quadrotor motion / dynamic model considering the quantization of the input control torque is established as follows:

[0054]

[0055] where X p =[X p,1 ,X p,2 ,X p,3 ] T and X v =[X v，1 ,X v，2 ,X v，3 ] T Represents the position and velocity vector of the quadrotor in the inertial coordinate system; X Ω =[X Ω，1 ,X Ω，2 ,X Ω，3 ] T and X ω =[X ω，1 ,X ω，2 ,X ω，3 ] T Represents the rotation angle and angular velocity vector in the body coordinate system; and represent the smooth nonlinear function terms of the velocity and angu...

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Abstract

The invention discloses a method for quantifying the performance of a quadrotor considering the limited airborne resources, and relates to the technical field of automatic control of the quadrotor. First, a motion / dynamics model that considers the quantification of control input and can characterize the strong coupling and uncertainty of the quadrotor is established; secondly, a mixed event trigger function based on a fixed threshold and a relative threshold is designed, and the mixed event is constructed for the trajectory and attitude loops respectively. Trigger the expanded state observer; then, using the preset performance control principle, to ensure that the trajectory tracking performance meets the preset transient and steady-state performance index requirements, a quadrotor trajectory tracking error conversion model is established; further, a quadrotor trajectory loop virtual The control law, through the inverse dynamics solution, generates the virtual control input of the quadrotor center of mass dynamics and the desired heading angle command; finally, the quadrotor virtual attitude control law is designed. The invention greatly improves the control precision of the quadrotor trajectory loop, and finally realizes the effective utilization of the airborne resources under the performance-guaranteed framework.

Description

technical field [0001] The invention relates to the technical field of quadrotor automatic control, in particular to a quadrotor performance quantification control method considering limited airborne resources, which is mainly applied to quadrotor high-performance trajectory tracking under the conditions of complex unknown interference and limited airborne resources control. Background technique [0002] In recent years, quadrotor UAVs have been widely used in military and civilian applications due to their simple structure, low manufacturability, easy maintenance, operational agility, environmental durability, precise hovering, and vertical take-off and landing. Such as aerial photography, reconnaissance surveillance and target search, tracking and indication. The quadrotor flight control system is the nerve center of the quadrotor system, and it is the top priority to ensure that it can complete various flight tasks in various unknown environments. However, the quadrotor...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04G05D1/10G05D1/08
CPCG05B13/042G05D1/101G05D1/0825
Inventor 邵星灵张文栋刘俊
Owner ZHONGBEI UNIV
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